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/*
*_________________________________________________________________________*
* POEMS: PARALLELIZABLE OPEN SOURCE EFFICIENT MULTIBODY SOFTWARE *
* DESCRIPTION: SEE READ-ME *
* FILE NAME: inertialframe.cpp *
* AUTHORS: See Author List *
* GRANTS: See Grants List *
* COPYRIGHT: (C) 2005 by Authors as listed in Author's List *
* LICENSE: Please see License Agreement *
* DOWNLOAD: Free at www.rpi.edu/~anderk5 *
* ADMINISTRATOR: Prof. Kurt Anderson *
* Computational Dynamics Lab *
* Rensselaer Polytechnic Institute *
* 110 8th St. Troy NY 12180 *
* CONTACT: anderk5@rpi.edu *
*_________________________________________________________________________*/
#include "inertialframe.h"
#include "fixedpoint.h"
using namespace std;
InertialFrame::InertialFrame(){
gravity.Zeros();
n_C_k.Identity();
r.Zeros();
v.Zeros();
v_k.Zeros();
a.Zeros();
omega.Zeros();
omega_k.Zeros();
alpha.Zeros();
alpha_t.Zeros();
}
InertialFrame::~InertialFrame(){
}
BodyType InertialFrame::GetType(){
return INERTIALFRAME;
}
Vect3 InertialFrame::GetGravity(){
return gravity;
}
void InertialFrame::SetGravity(Vect3& g){
gravity = g;
}
bool InertialFrame::ReadInBodyData(istream& in){
in >> gravity;
return true;
}
void InertialFrame::WriteOutBodyData(ostream& out){
out << gravity;
}